Autonomous agricultural system user interface interlock

ABSTRACT

A control system for an autonomous agricultural system includes a display configured to display at least one control function associated with at least one operation. The display is configured to output a first signal indicative of a first input. The control system includes a controller comprising a processor and a memory. The controller is communicatively coupled to the display and configured to receive the first signal indicative of the first input and to send a second signal to the display indicative of instructions to display a second control in an unlocked state. The display is configured to output a third signal to the controller indicative of the second input. The controller is configured to receive the third signal and to output a fourth signal indicative of instructions to control the at least one operation of the autonomous agricultural system.

BACKGROUND

The subject matter of the disclosure relates generally to agriculturalsystems, and more specifically, to a user interface interlock for anautonomous agricultural system.

Vehicles, such as agricultural tractors, may be driven through a fieldof crops to perform various agricultural operations. In recent years,vehicles have been designed to operate at least partially without inputfrom an onboard operator. For example, the vehicle may perform one ormore operations by receiving one or more instructions remotely, therebyenabling the vehicle to operate in an autonomous or semi-autonomousmanner (e.g., at least partially without input from an operator presentwithin the vehicle). For example, a remote operator or an operator withthe vehicle may activate the vehicle and initiate operations.Unfortunately, in certain systems, an operator may unintentionallyinitiate certain operations by inadvertently interacting with elementsof the user interface, such as an interface on a touchscreen.

BRIEF DESCRIPTION

A summary of certain embodiments disclosed herein is set forth below. Itshould be understood that these aspects are presented merely to providethe reader with a brief summary of these embodiments and that theseaspects are not intended to limit the scope of this disclosure. Indeed,this disclosure may encompass a variety of aspects that may not be setforth below.

In a first embodiment, a control system for an autonomous agriculturalsystem includes a touchscreen display configured to display at least onecontrol function associated with at least one operation of theautonomous agricultural system, wherein the touchscreen display isconfigured to receive a first input indicative of actuation of a firstcontrol and to output a first signal indicative of the first input, anda controller including a processor and a memory, wherein the controlleris communicatively coupled to the touchscreen display and configured tosend a second signal to the touchscreen display indicative ofinstructions to display a second control of the at least one controlfunction in an unlocked state upon receipt of the first signal, whereinthe touchscreen display is configured to receive a second inputindicative of actuation of the second control while the second controlis in the unlocked state and to output a third signal to the controllerindicative of the second input, and the controller is configured toreceive the third signal and to output a fourth signal indicative ofinstructions to control the at least one operation of the autonomousagricultural system based on the second input.

In a second embodiment, a control system for an autonomous agriculturalsystem includes a touchscreen display configured to display at least onecontrol function associated with at least one operation of theautonomous agricultural system, wherein the touchscreen display isconfigured to receive a first input indicative of a multipointdepression, a depression of a threshold pressure, a gesture, adepression of a threshold duration, or any combination thereof, and tooutput a first signal indicative of the first input; and a controllerincluding a processor and a memory, wherein the controller iscommunicatively coupled to the touchscreen display and configured toreceive the first signal and to send a second signal to control at leastone operation of the autonomous agricultural system upon receipt of atleast the first signal.

In a third embodiment, a controller for an autonomous agriculturalsystem, wherein the controller includes a memory operatively coupled toa processor, wherein the controller is configured to receive a firstsignal indicative of a first input from a touchscreen display associatedwith unlocking a manual control of the autonomous agricultural system,to send a second signal to the touchscreen display indicative ofinstructions to display the manual control in an unlocked state, toreceive a third signal indicative of a second input from the manualcontrol, and to output a fourth signal to control the autonomousagricultural system based on the second input.

DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a side view of an embodiment of an agricultural system thatincludes an agricultural vehicle and an agricultural implement;

FIG. 2 is a schematic diagram of an embodiment of a control system thatmay be utilized to control the agricultural vehicle and the agriculturalimplement of FIG. 1;

FIG. 3 is a diagram of an embodiment of a display of the control systemof FIG. 2;

FIG. 4 is a diagram of an embodiment of an interlock that may bedisplayed on the display of FIG. 3;

FIG. 5 is a diagram of another embodiment of an interlock that may bedisplayed on the display of FIG. 3;

FIG. 6 is a diagram of another embodiment of an interlock that may bedisplayed on the display of FIG. 3;

FIG. 7 is a diagram of another embodiment of an interlock that may bedisplayed on the display of FIG. 3;

FIG. 8 is a flow diagram of an embodiment of a method that may beperformed by the control system of FIG. 2; and

FIG. 9 is a flow diagram of another embodiment of a method that may beperformed by the control system of FIG. 2.

DETAILED DESCRIPTION

Turning to the figures, FIG. 1 is a side view of an embodiment of anagricultural system 10 that includes an agricultural vehicle 12, such asa tractor or another prime mover, and an agricultural implement 14. Theagricultural vehicle 12 is configured to tow the agricultural implement14 along a direction of travel 16 through an agricultural field toperform various agricultural operations. For example, the agriculturalimplement 14 may include a tillage tool, a fertilizer application tool,a seeding or planting tool, a harvesting tool, or a combination thereof,among other agricultural tools. While the agricultural implement 14 istowed by the agricultural vehicle 12 (e.g., in front of or behind theagricultural vehicle 12), it should be appreciated that in alternativeembodiments, the agricultural implement may be incorporated into theagricultural vehicle.

In the illustrated embodiment, the agricultural vehicle 12 is configuredto operate autonomously (e.g., without input from an operator, withoutan operator present in the cab of the agricultural vehicle, etc.).Accordingly, an automatic system may direct the agricultural vehicle 12and the agricultural implement 14 without direct control from anoperator within the cab. For example, an operator may input instructionsto a control system (e.g., from within the cab, from a location remotefrom the agricultural vehicle 12, etc.), and/or automatic instructionsmay be generated at a remote base station and sent to the agriculturalsystem 10. The control system may then direct the agricultural system toperform various agricultural operations.

FIG. 2 is a schematic diagram of an embodiment of a control system 20that may be utilized to control the agricultural vehicle 12 and theagricultural implement 14 of FIG. 1. The control system 20 includes abase station 22 having a base station controller 24. The base stationcontroller 24 includes a processor 26, memory 28, a transceiver 30, anda user interface 32 having a display 34. The base station controller 24may receive input via the display 34 (e.g., via a touchscreen of thedisplay 34) indicative of one or more operations to be performed by theagricultural system 10. In certain embodiments, the base stationcontroller 24 may receive input via a keyboard and/or a mouse, and/orthe base station controller 24 may determine operations to be performed(e.g., based on input data). Further, the base station controller 24 maygenerate and send signals via the transceiver 30 to a controller of theagricultural system 10 indicative of instructions to perform theagricultural operations.

In the illustrated embodiment, the control system 20 includes acontroller 36 of the vehicle 12 having a processor 38 and a memory 40.The vehicle controller 36 may receive signal(s) from a transceiver 42and/or a spatial locating device 44 (e.g., global positioning systemreceiver). In addition, the agricultural vehicle 12 includes a sensorassembly 43 to facilitate autonomous control of the agricultural vehicle12. For example, the sensor assembly 43 may include multiple sensors(e.g., infrared sensors, ultrasonic sensors, magnetic sensors, etc.)that provide input to the vehicle controller 36. Further, the vehiclecontroller 36 is configured to receive signal(s) from the sensorassembly 43, the transceiver 42, the spatial locating device 44, or acombination thereof, and to control one or more operations of theagricultural system 10 based on the received signal(s).

The vehicle controller 36 may generate and send signal(s) to control oneor more operations of the agricultural vehicle 12 and/or theagricultural implement 14. For instance, the vehicle controller 36 maysend signal(s) to a steering control system 45 to control a direction ofmovement of the agricultural vehicle 12 and/or to a speed control system49 to control a speed of the agricultural vehicle 12. The steeringcontrol system 45 may include a wheel angle control system 46, adifferential braking system 47, and a torque vectoring system 48. Thewheel angle control system 46 may automatically rotate one or morewheels and/or tracks of the agricultural vehicle 12 (e.g., via hydraulicactuators) to steer the agricultural vehicle 12 along a desired route.By way of example, the wheel angle control system 46 may rotate frontwheels/tracks, rear wheels/tracks, and/or intermediate wheels/tracks ofthe agricultural vehicle, either individually or in groups. Thedifferential braking system 47 may independently vary the braking forceon each lateral side of the agricultural vehicle 12 to direct theagricultural vehicle 12 along the desired route. Similarly, the torquevectoring system 48 may differentially apply torque from an engine towheels and/or tracks on each lateral side of the agricultural vehicle12, thereby directing the agricultural vehicle 12 along a desired route.While the illustrated steering control system 45 includes the wheelangle control system 46, the differential braking system 47, and thetorque vectoring system 48, it should be appreciated that alternativeembodiments may include one or two of these systems, in any suitablecombination. Further embodiments may include an automated steeringcontrol system having other and/or additional systems to facilitatedirecting the agricultural vehicle along the desired route.

In the illustrated embodiment, the automated speed control system 49includes an engine output control system 50, a transmission controlsystem 51, and a braking control system 53. The engine output controlsystem 50 is configured to vary the output of the engine to control thespeed of the agricultural vehicle 12. For example, the engine outputcontrol system 50 may vary a throttle setting of the engine, a fuel/airmixture of the engine, a timing of the engine, other suitable engineparameters to control engine output, or a combination thereof. Inaddition, the transmission control system 51 may adjust gear selectionwithin a transmission to control the speed of the agricultural vehicle12. Furthermore, the braking control system 53 may adjust braking force,thereby controlling the speed of the agricultural vehicle 12. While theillustrated automated speed control system 49 includes the engine outputcontrol system 50, the transmission control system 51, and the brakingcontrol system 53, it should be appreciated that alternative embodimentsmay include one or two of these systems, in any suitable combination.Further embodiments may include an automated speed control system havingother and/or additional systems to facilitate adjusting the speed of theagricultural vehicle.

The vehicle controller 36 may send signal(s) to the implement controller52 to control operation of the agricultural implement 14 (e.g., toraise/lower tool(s) on the implement 14, to fold/unfold wing(s) of theimplement, etc.). For example, the controller 36 may send signal(s), viaan interface 58, to control hydraulic systems, pneumatic systems,electrical systems, or a combination thereof, of the agriculturalimplement 14. In embodiments in which the implement 14 includes atillage tool, the processor 38 may send signal(s) via the interface 58indicative of instructions to raise the implement to a transportposition. Further, the controller 36 may send signal(s) indicative ofinstructions to lower the implement before performing a tillingoperation. The implement controller 52 may be coupled to the implement14 and include a processor 54 and a memory 56, similar to the processors26 and 38 and the memories 28 and 40, as described with respect to thebase station 22 and the agricultural vehicle 12. The implementcontroller 52 may receive signal(s) via an interface 60 and controloperation of the agricultural implement 14 based on the receivedsignal(s). In other embodiments, the controller 38 may send signal(s)via the interface 58 to control the agricultural implement 14 directly(e.g., without the implement controller 52). The interface 58 may becommunicatively coupled to the interface 60 of the implement to enablecommunication between the controller 52 of the implement 14 and thecontroller 36 of the agricultural vehicle 12 while the implement isengaged with the agricultural vehicle 12. Further, the controller 36 maycommunicate (e.g., wirelessly or wired) via a communication protocol(e.g., local interconnect network (LIN) communication, WiFicommunication, Ethernet communication, Controller Area Network (CAN)communication, international organization for standardization 11783 (ISObus) communication, etc.) with various systems, such as the implement.

In the illustrated embodiment, the controllers 24, 36, and 52 eachinclude a processor, such as the microprocessor 26, 38, and 54, and amemory, such as the memory devices 28, 40, and 56, respectively. Thecontrollers 24, 36, and 52 may also include one or more storage devicesand/or other suitable components. The processors 26, 38, and 54 may beused to execute software, such as software for controlling theagricultural system, and so forth. Moreover, the processors 26, 38, and54 may include one or more “general-purpose” microprocessors, one ormore special-purpose microprocessors, one or more application specificintegrated circuits (ASICS), or some combination thereof. For example,each processor 26, 38, and 54 may include one or more reducedinstruction set (RISC) processors.

The memory devices 28, 40, and 56 may include a volatile memory, such asrandom access memory (RAM), and/or a nonvolatile memory, such asread-only memory (ROM). The memory device 28, 40, and 56 may store avariety of information and may be used for various purposes. Forexample, the memory devices 28, 40, and 56 may storeprocessor-executable instructions (e.g., firmware or software) for theprocessors 26, 38, and 54 to execute, such as instructions forcontrolling the agricultural vehicle 12. The storage device(s) (e.g.,nonvolatile storage) may include ROM, flash memory, hard drive(s), orany other suitable optical, magnetic, or solid-state storage medium, ora combination thereof. The storage device(s) may store data (e.g.,associated with control of the agricultural system 10), instructions(e.g., software or firmware for receiving inputs from an operator andcontrolling operation of the agricultural system 10 based on thereceived inputs), any other suitable data, or a combination thereof.

The spatial locating device 44 (e.g., mounted to the agriculturalvehicle 12) is communicatively coupled to the vehicle controller 36. Thespatial locating device 44 may be configured to determine a position ofthe agricultural vehicle 12 and/or the implement 14. The spatiallocating device 44 may include any suitable system configured todetermine the position of the agricultural vehicle 12 and/or theimplement 14, such as a global positioning system (GPS) receiver, forexample. In certain embodiments, the spatial locating device 44 may beconfigured to determine the position of the agricultural vehicle 12and/or the agricultural implement 14 relative to a fixed globalcoordinate system (e.g., via the GPS receiver) or a fixed localcoordinate system. Further, in some embodiments, the spatial location ofthe agricultural vehicle 12 and/or the agricultural implement 14 may bedetermined. For example, the agricultural implement location may bedetermined based on the geometry of the agricultural implement 14 and/orthe geometry of the agricultural vehicle 12, and the determined locationof the agricultural vehicle 12. In certain embodiments, the transceiver42 may broadcast signal(s) indicative of the position of theagricultural vehicle 12 and/or the implement 14 to the transceiver 30 ofthe base station 22 or any other suitable transceiver.

In the illustrated embodiment, the agricultural implement 14 includes anelectro-hydraulic valve (EHV) 62, such as an electro hydraulic remote(EHR), configured to control operation of an implement tool 64. Forexample, the implement tool 64 may include a tillage tool, a fertilizerapplication tool, a seeding or planting tool, a harvesting tool, or acombination thereof, among other agricultural tools. For instance, atillage tool may be raised, lowered, or controlled to any suitable pointthere between via signals sent to the EHV 62. Further, a sensor 66 maybe configured to detect a position of the EHV 62. The controller 36 mayreceive signal(s) from the sensor 66 (e.g., via the implement controller52) indicative of a position of the EHV 62.

FIG. 3 is a diagram of an embodiment of a touchscreen display 34 thatmay be utilized to control the agricultural system 10. The base stationcontroller may receive signal(s) indicative of the position of theagricultural vehicle 12 from the spatial locating device via thetransceivers. Based on the position of the agricultural system, thecontroller sends signal(s) to the display 34 indicative of instructionsto show one or more virtual agricultural systems 68 that include avirtual agricultural vehicle 70 and virtual agricultural implement 72 ata position corresponding to the position of the agricultural vehicle 12and/or the agricultural implement 14. The controller may receive a firstinput from an operator selecting the virtual agricultural vehicle 70and/or the agricultural implement 72 (e.g., by depressing the virtualagricultural vehicle 70 and/or the virtual agricultural implement 72).The controller may then receive a second input from the operatorselecting a virtual agricultural field 74 (e.g., by depressing thevirtual agricultural field 74) that represents an agricultural field inwhich the agricultural system may perform an agricultural operation. Thecontroller may then plan a path 76 for the agricultural vehicle and/orthe agricultural implement to move toward the agricultural field and/orto traverse the agricultural field. For example, the controller mayreceive signal(s) indicative of a selection of an agricultural field anddetermine the path 76 throughout the agricultural field.

The controller may then receive a third input from the operatorindicative of instructions to commence an autonomous agriculturaloperation on the agricultural field. For example, the controller maysend signal(s) for the touchscreen display 34 indicative of instructionsto display a start button 78 while the virtual agricultural vehicle 70and/or implement 72 and the virtual agricultural field 74 are selected.The controller may receive signal(s) from the display indicative ofactuation of the start button 78 and may commence the autonomousagricultural operation accordingly (e.g., by sending signal(s) to thesteering control system and/or the speed control system indicative ofinstructions to direct the agricultural system along the path).

In the illustrated embodiment, the touchscreen display 34 displays acontrol panel 80 having various control functions indicative ofoperating states of the agricultural system 10. While the control panel80 is shown to the left of the virtual agricultural system 68 and thevirtual agricultural field 74, it should be appreciated that inalternative embodiments, the control panel 80 may be in any suitablelocation on the display 34. The control panel 80 includes a three-pointhitch (3PH) control function 82 configured to control and to display anoperating state of a 3PH of the agricultural implement. Further, thecontrol panel 80 includes four electro-hydraulic valve (EHV) controlfunctions 84 each configured to control and to display an operatingstate of an EHV of the agricultural implement 14. While four EHV controlfunctions 84 are shown in FIG. 3, one, two, three, four, five, or anyother suitable number of EHV control functions may be displayed toenable the operator to control corresponding EHVs.

In the illustrated embodiment, each of the 3PH control function 82 andthe EHV control functions 84 present a graphical representation of theposition of the EHV or the 3PH via a respective virtual slide bar 86 or88. Each of the control functions 82 and 84 includes a numericalrepresentation 90 or 92 of the value of the respective parameter. Toadjust the value of each parameter, a respective slider 91 or 93 may bemoved along a path of the slide bars 86 or 88. As the slider moves, thenumerical representation 90 or 92 (e.g., representation of percentage ofmovement of the 3PH or the EHV of the agricultural implement) of therespective parameter changes based on the position of the slider 91 or93 along the slide bar 86 or 88. While each control function includes aslide bar 86 and 88 in the illustrated embodiment, it should beappreciated that in alternative embodiments, other suitable controlfunctions and/or representations of the parameter values may bedisplayed. In certain embodiments, the graphical representation may bedisplayed without the numerical representation, or the numericalrepresentation may be displayed without the graphical representation.Further, while the control panel 80 is described with respect to 3PH andEHV operations, the touchscreen display 34 may include other controlsand/or gauges that control and/or display values indicative of operationof other systems/features of the agricultural vehicle and/or theagricultural implement, such as wheel angle from the wheel angle controlsystem, vehicle speed from the speed control system, power takeoff (PTO)operation, or any other suitable system/feature of the agriculturalsystem 10.

In certain embodiments, the base station controller sends signal(s) viathe transceiver to the agricultural vehicle controller indicative ofinstructions to control the 3PH and/or the EHV based on the selectedinputs on the touchscreen display 34. The agricultural vehiclecontroller receives the signal(s) indicative of the instructions via thetransceiver and controls the 3PH and/or EHV (e.g., via the implementcontroller) based on the received instructions. During the agriculturaloperation (e.g., after the start button 78 is activated), the vehiclecontroller may receive signal(s) indicative of value(s) of one or moreoperating parameters of the agricultural vehicle and/or the agriculturalimplement. For example, the vehicle controller may receive signal(s)from the sensor(s) indicative of a position of the EHV. The vehiclecontroller may then send signal(s) to the touchscreen display 34indicative of instructions to display the EHV slider 91 in a positionthat corresponds to the position of the EHV.

Moreover, the control panel 80 may enable a remote operator at the basestation to manually control (e.g., manually override) operation of theagricultural system 10 (e.g., during autonomous agricultural operation).For example, the base station controller may receive an input (e.g.,actuation of the virtual control) from the touchscreen display 34indicative of instructions to control one or more operating parametersof the agricultural system. In the illustrated embodiment, the basestation controller receives the input indicative of a selection of aposition of the EHV via the control function 84. The base stationcontroller then determines the position of the EHV that corresponds tothe position selected from the EHV slider 91 and sends signal(s)indicative of the desired position of the EHV to the vehicle controller.The vehicle controller then sends signal(s) to the EHV (e.g., via theimplement controller) to control a function of the implement based onthe position of the EHV, thereby enabling a remote operator to manuallycontrol the function of the implement via interaction with thetouchscreen display 34.

To substantially reduce or eliminate the possibility of unintentionalactivation of certain controls on the touchscreen display 34, thedisplay 34 includes an interlock control 96 that disables operation ofmanual controls while the interlock control 96 is active. For example,with the interlock control 96 active, unintentional contact with thecontrol panel 80 may not cause unintentional movement of theagricultural vehicle 12 or unintentional control of the EHV and/or the3PH. The display 34 is configured to receive a first input indicative ofa command (e.g., depression of the touchscreen 34) to deactivate (e.g.,unlock) the first control (e.g., interlock control 96). For instance, anoperator may deactivate the interlock control 96 via a swipe gesturefrom a first location to a second location at the interlock control 96.The touchscreen display 34 may send a first signal indicative of theswipe input to the base station controller. In response, the basestation controller may receive the first signal and send a second signalto the touchscreen display indicative of instructions to deactivate(e.g., unlock) the interlock control 96 and to display one or morecontrol functions 82 and 84 in an unlocked state. The touchscreendisplay 34 is configured to receive a second input indicative ofactuation of the second control (e.g., slider 91) while the secondcontrol is in the unlocked state. The touchscreen display 34 may outputa third signal to the controller indicative of the second input. Thecontroller may receive the third signal and output a fourth signal(e.g., to the implement controller, to the EHV, to the 3PH, etc.) tocontrol the one or more operations of the autonomous agricultural systembased on the second input. While a swipe gesture at an interlock controlis provided as an example to unlock the interlock, other inputs may beused to control the interlock, such as a multipoint depression, adepression of a threshold pressure, a gesture, a depression of athreshold duration, or any combination thereof.

Further, if an operator attempts to control the EHV or the 3PH while theinterlock control 96 is active, the base station controller may instructthe display 34 to present a notification 98 on the touchscreen display34 indicating that the interlock 96 is active/locked, thereby informingthe operator to deactivate the interlock 96 to enable manual operationof the 3PH control function 82 and/or the EHV control functions 84.Additionally and/or alternatively, the base station controller may sendsignal(s) to the display 34 indicative of instructions to control avisual state of the 3PH control function 82 and/or the EHV controlfunctions 84 based on whether the 3PH control function 82 and/or the EHVcontrol functions 84 are activated or deactivated. For example, the basestation controller may send signal(s) to change a color and/or font ofthe 3PH control function 82 and/or the EHV control functions 84 and/orthe surrounding text (e.g., numerical representation 90 and 92) based onthe state of the interlock control 96 (e.g., a first color while activeand a second color while not active).

In the illustrated embodiment, the controller commences one or moreoperations of the autonomous agricultural system upon receipt of a firstsignal indicative of an input on a display. For example, the touchscreendisplay 34 may be configured to receive an input indicative of amultipoint depression, depression of a threshold pressure, a gesture, adepression of a threshold duration, or any combination thereof. Thetouchscreen display 34 may then output a first signal indicative of thefirst input. The base station controller may receive the first signaland send a second signal to commence one or more operations of theautonomous agricultural system upon receipt of the first signalindicative of the input from the touchscreen display. For example, thedisplay may receive an input indicative of depression of the startbutton 78 for a threshold duration. The display may provide a firstsignal to the base station controller indicative of the input. The basestation controller may compare the duration of the depression with athreshold duration. The base station controller may send a signal tocommence the operation based on whether the duration of the depressionexceeds the threshold duration.

FIG. 4 is a diagram of an embodiment of an interlock 102 that may bedisplayed on the touchscreen display. In the illustrated embodiment, theinterlock 102 activates or deactivates automatic control of theagricultural vehicle. The base station controller may receive signalsfrom the display indicative of selection of a virtual agriculturalvehicle corresponding to the agricultural vehicle. Then, the basestation controller may receive signal(s) from the display 34 indicativeof selection of a location on the agricultural field. The base stationcontroller may then send signal(s) to the display 34 to enable a startbutton 104 that starts the engine or initiates vehicle motion uponactivation of the start button 34. To substantially reduce or eliminatethe possibility of unintentional activation of the start button, thebase station controller may receive an input depressing the interlock102 for a duration of time (e.g., select and hold). For example, tounlock the interlock 102, the display may receive an input indicative ofa depression to unlock the interlock 102 at the 3PH control function 82and/or at the EHV control functions 84. As another example, the displaymay receive an input indicative of a depression to unlock the interlock102 at the control panel interlock (e.g., to enable the control panel).Once the duration of the depression to unlock the interlock 102 hasreached a threshold duration, the base station controller commencestarting of the engine or initiating vehicle motion to the designatedlocation. During vehicle motion, the base station controller may sendsignals to the display 34 to display a pause button 108 that pauses themovement of agricultural vehicle 12.

FIG. 5 is a diagram of another embodiment of an interlock 110 that maybe displayed on the touchscreen display. In the illustrated embodiment,the interlock 110 activates or deactivates the control panel to enableor disable manual control of operation(s) of the agricultural implement,for example. The display is configured to receive a pressure sensitiveinput indicative of an amount of pressure from depression of theinterlock on the display. The display may send a signal to the basestation controller indicative of the amount of pressure from thedepression. The base station controller may compare the amount ofpressure to a pressure threshold. When the input pressure exceeds thepressure threshold, the base station controller may deactivate theinterlock 110 to enable manual control via the control panel 80, therebyenabling the operator to control operation(s) of the implement.Alternatively and/or additionally, the base station controller maycompare the pressure input to a pressure threshold and send signal(s) tothe autonomous agricultural system to commence the one or moreagricultural operations based upon the comparison. For example, thedisplay may receive a pressure input at the start button indicative of apressure and output a signal indicative of the pressure input. Uponreceiving the pressure input, the base station controller may comparethe pressure input to a pressure threshold and send signal(s) to theautonomous agricultural system to commence the one or more agriculturaloperations. As another example, the display may receive a pressure inputat the 3PH control function 82 and/or the EHR control functions 84indicative of a pressure and output a signal indicative of the pressureinput.

FIG. 6 is a diagram of another embodiment of an interlock 112 that maybe displayed on the touchscreen display. In the illustrated embodiment,the interlock 112 may enable or disable manual control of theagricultural implement and/or may commence an agricultural operation ofthe agricultural vehicle 12. The display is configured to receive afirst input of actuation of a first control 114 (e.g., depression of thestart button) on the display at a first location. The display may send afirst signal to the base station controller indicative of the firstinput, and the base station controller may send a second signal to thedisplay indicative of instructions to display a second control 116(e.g., a second button associated with the start button) on the displayat a second location, different from the first location. The display maythen receive a second input (e.g., indicative of simultaneous depressionof the first control 114 and the second control 116, depression of thesecond control alone, etc.). The display may send a third signalindicative of the second input to the base station controller. The basestation controller may output a fourth signal to the agriculturalvehicle controller and/or the implement controller indicative ofinstructions to commence the one or more agricultural operations. Forexample, upon receiving the first and third signals, the base stationcontroller may begin movement of the agricultural vehicle to a selectedlocation. Alternatively and/or additionally, the base station controllermay send a fifth signal to the touchscreen display indicative ofinstructions to display one or more controls (e.g., the 3PH controlfunction 82 and/or the EHR control functions 84) in an unlocked state.The touchscreen display may receive a third input indicative ofactuation of a control on the control panel to control the autonomousagricultural system (e.g., 3PH and/or EHR of the implement). While twocontrols 114 and 116 are shown at two locations, the base stationcontroller may instruct the display to present three or more buttons,and the controller may receive inputs that correspond to three or moredepressions to facilitate reducing unintentional activation of theautonomous agricultural system. Further, the first input and/or thesecond input may be inputs at the 3PH control function 82 and/or the EHRcontrol functions 84.

FIG. 7 is a diagram of another embodiment of an interlock 118 that maybe displayed on the touchscreen display. The interlock 118 may be aninterlock located at the control function 120 (e.g., at the 3PH controlfunction and/or the EHR control functions). In the illustratedembodiment, the interlock 112 may be located at the control function 120(e.g., the start button) to commence an agricultural operation of theagricultural vehicle 12. For example, the touchscreen display mayreceive a first input indicative of actuation (e.g., depression) of acontrol (e.g., start button). The touchscreen display may output a firstsignal to the base station controller indicative of the first input. Thebase station controller may receive the first signal and send a secondsignal to the touchscreen display indicative of instructions to displaythe interlock 118 at or in proximity to the control 120. The display mayreceive a second input indicative of actuation of the control via agesture along the display from a first location to a second location(e.g., slide to unlock), and output a third signal to the base stationcontroller indicative of the second input. The base station controllermay receive the third signal and send a fourth signal to theagricultural vehicle controller and/or the implement controller tocommence the one or more agricultural operations. While the start buttonis used as an example above, the interlock 118 may be used to unlock asecond control that controls one or more operations of the agriculturalsystem. For example, the base station controller may receive a signalindicative of a gesture at the 3PH control function and/or the EHRcontrol function and the controller may send signals to control the 3PHand/or the EHR of the autonomous agricultural system. Further, incertain embodiments, the base station controller may receive a signalindicative of a gesture to unlock the control panel. Additionally, whilea gesture from a first location to a second location is used as anexample, any variety of gestures (e.g., swipe, scroll, taps, etc.) maybe used that are suitable for controlling actuation of the controlfunctions. Further, in some embodiments, a gesture alone (e.g., not on acorresponding button) may be used to commence the one or moreagricultural operations.

FIG. 8 is a flow diagram of an embodiment of a method 122 forcontrolling the agricultural system. The method 122 may be stored asinstructions (e.g., code) in memory and executed by one or more of theprocessors. First, as represented by block 124, the controller sendssignal(s) to the display to prompt an operator for login information(e.g., user name and password). At block 126, the controller receivesthe login information via the touchscreen display (e.g., virtualkeyboard), a keyboard, and/or mouse, and verifies the login informationagainst permissions for controlling the agricultural system.

At block 128, the touchscreen display and the controller receive andsend various inputs and/or outputs to control one or more operations ofthe autonomous agricultural system. Further, to substantially reduce oreliminate the possibility of unintentional activation of certaincontrols on the touchscreen display, at block 128, the controllerdisables operation of manual controls while an interlock control isactive. In the illustrated embodiment, at block 130, the touchscreendisplay receives a first input indicative of actuation of a firstcontrol and outputs a first signal based on the first input. At block132, the base station controller receives the first signal and sends asecond signal to the touchscreen display indicative of instructions todisplay a second control in an unlocked state. For example, the basestation controller may receive a swipe input from a first location to asecond location, a pressure sensitive input that exceeds a thresholdpressure, or an input having multiple touches at correspondinglocations, among others. The second input may include any suitable inputthat controls operation of the agricultural system. For instance, thesecond input may include inputs that control movement of theagricultural vehicle, tools on the agricultural implement, wings of theagricultural implement, an engine of the agricultural vehicle, adirection of the agricultural vehicle, hydraulics and/or pneumatics ofthe agricultural implement, and the like.

At block 134, the touchscreen display receives a second input indicativeof actuation (e.g., depression) of the second control and outputs athird signal to the base station controller indicative of the secondinput. The second input may include any suitable input that the displaymay receive to control operation of the agricultural system. At block136, the base station controller receives the third signal indicative ofthe actuation of the second control to control an operation of theagricultural system. The base station controller then sends a fourthsignal (e.g., to the implement controllers) to control one or moreoperations based on the second input.

At block 138, the base station controller sends a fifth signal to thedisplay indicative of instructions to transition the second control to alocked state a period of time after the first input or the second inputis received. For example, the base station controller may reactivate theinterlock after 5 seconds, 10 seconds, 1 minute, 10 minutes, or othersuitable time period. Further, the base station controller may enablethe operator to adjust the threshold duration. In certain embodiments,the first control is the second control in a locked state. At block 140,the base station controller may send a sixth signal to the displayindicative of instructions to log out after a second predeterminedperiod of time. For example, the base station controller may sendsignal(s) to the display to prompt the operator for a login username andpassword after a second predetermined period of time.

FIG. 9 is a flow diagram of another embodiment a method for controllingthe agricultural system from the base station that fits into block 128of FIG. 8. At block 144, the touchscreen display receives an inputindicative of a multipoint depression, a depression of a thresholdpressure, a gesture, a depression for a threshold duration, or anycombination thereof. For example, the touchscreen display may receive aninput indicative of depression of the start button for a thresholdduration. At block 146, the touchscreen sends a first signal indicativeof the input to the base station controller. At block 148, the basestation controller receives the first signal and sends a second signalto control at least one agricultural operation. For example, the basestation controller may send the second signal to the controller of theagricultural vehicle indicative of instructions to commence a tillageoperation, a fertilizer operation, a seeding or planting operation, aharvesting operation, or a combination thereof. While embodimentsdescribed above may include a touchscreen in a base station, in otherembodiments, the touchscreen may be located in a cab of the agriculturalvehicle or in any other suitable location.

While only certain features of the invention have been illustrated anddescribed herein, many modifications and changes will occur to thoseskilled in the art. It is, therefore, to be understood that the appendedclaims are intended to cover all such modifications and changes as fallwithin the true spirit of the disclosure.

1. A control system for an autonomous agricultural system, comprising: atouchscreen display configured to display at least one control functionassociated with at least one operation of the autonomous agriculturalsystem, wherein the touchscreen display is configured to receive a firstinput indicative of actuation of a first control and to output a firstsignal indicative of the first input; and a controller comprising aprocessor and a memory, wherein the controller is communicativelycoupled to the touchscreen display and configured to send a secondsignal to the touchscreen display indicative of instructions to displaya second control of the at least one control function in an unlockedstate upon receipt of the first signal; wherein the touchscreen displayis configured to receive a second input indicative of actuation of thesecond control while the second control is in the unlocked state and tooutput a third signal to the controller indicative of the second input,and the controller is configured to receive the third signal and tooutput a fourth signal indicative of instructions to control the atleast one operation of the autonomous agricultural system based on thesecond input.
 2. The control system of claim 1, wherein the first inputcomprises a multipoint depression, a depression of a threshold pressure,a gesture, a depression of a threshold duration, or any combinationthereof, of the first control.
 3. The control system of claim 1, whereinthe second control comprises a slide bar.
 4. The control system of claim1, wherein the controller is configured to send a fifth signal to thetouchscreen display indicative of instructions to display a login prompta period of time after any input is received by the touchscreen display,wherein at least one control function is disabled during display of thelogin prompt until the login information is entered.
 5. The controlsystem of claim 1, wherein the first input comprises the second input ina locked state.
 6. The control system of claim 1, wherein the controlleris configured to output a sixth signal indicative of instructions totransition the second control to a locked state a period of time afterthe first input or the second input is received.
 7. The control systemof claim 6, wherein the controller is configured to send an seventhsignal to the touchscreen indicative of instructions to display a changein a color, font, or both of the second control, text associated withthe second control, or any combination thereof upon the second controltransitioning from the locked state to the unlocked state.
 8. Thecontrol system of claim 1, wherein the at least one control functioncomprises a plurality of control functions, and wherein the controlleris configured to send the second signal to the touchscreen displayindicative of instructions to display the plurality of control functionsin an unlocked state upon receipt of the first signal;
 9. The controlsystem of claim 1, wherein the at least one operation comprises controlof a three-point hitch (3PH) of an implement of the autonomousagricultural system, control of a power take off (PTO) of a vehicle ofthe autonomous agricultural system, control of an electric hydraulicremote (EHV) of the implement, or any combination thereof.
 10. A controlsystem for an autonomous agricultural system, comprising: a touchscreendisplay configured to display at least one control function associatedwith at least one operation of the autonomous agricultural system,wherein the touchscreen display is configured to receive a first inputindicative of a multipoint depression, a depression of a thresholdpressure, a gesture, a depression of a threshold duration, or anycombination thereof, and to output a first signal indicative of thefirst input; and a controller comprising a processor and a memory,wherein the controller is communicatively coupled to the touchscreendisplay and configured to receive the first signal and to send a secondsignal to control at least one operation of the autonomous agriculturalsystem upon receipt of at least the first signal.
 11. The control systemof claim 10, wherein the controller is configured to output a thirdsignal to the touchscreen display indicative of instructions to displaya pause control upon receipt of at least the first signal and to pausethe at least one operation upon receiving a fourth signal indicative ofactuation of the pause control.
 12. The control system of claim 10,wherein the controller is configured to receive a fifth signal from thetouchscreen display indicative of selection of an agricultural vehicleof the autonomous agricultural system, to receive a sixth signal fromthe touchscreen display indicative of selection of a location, and tooutput a seventh signal indicative of instructions to move theagricultural vehicle to the location.
 13. The control system of claim10, wherein the controller is configured to receive an eighth signalindicative of a selection of an agricultural field and to determine apath through the agricultural field, and wherein the at least oneoperation comprises controlling the agricultural system such that theagricultural system moves along the path.
 14. The control system ofclaim 10, wherein the controller is configured to output a ninth signalindicative of instructions to display an agricultural vehicle of theautonomous agricultural system in a location on the touchscreen display,wherein the location is based at least in part on a location signal fromthe agricultural vehicle.
 15. The control system of claim 10, whereinthe controller is configured to receive a tenth signal from thetouchscreen display indicative of a second input associated with logininformation, to compare the login information to stored logininformation, and to output a fourth signal to the touchscreen displayindicative of instructions to enable access to the first input based onthe comparison.
 16. The control system of claim 10, wherein thecontroller is configured to send a second signal to the touchscreen upona depression of a threshold pressure.
 17. A controller for an autonomousagricultural system, wherein the controller comprises a memoryoperatively coupled to a processor, wherein the controller is configuredto receive a first signal indicative of a first input from a touchscreendisplay associated with unlocking a manual control of the autonomousagricultural system, to send a second signal to the touchscreen displayindicative of instructions to display the manual control in an unlockedstate, to receive a third signal indicative of a second input from themanual control, and to output a fourth signal to control the autonomousagricultural system based on the second input.
 18. The control system ofclaim 17, wherein the controller is configured to send the third signalto the touchscreen upon depression of the first input for a thresholdduration.
 19. The control system of claim 17, wherein the controller isconfigured to send third signal to the touchscreen upon a gesture of thefirst input.
 20. The control system of claim 17, wherein the controlleris configured to send signals display a login prompt a period of timeafter any input is received by the touchscreen display, wherein at leastone control function is disabled during display of the login promptuntil login information is entered.